//BEN NOTE:
//In any .h file, you want to have the following two lines of code, as
//well as the "#endif" at the end.  This is to make sure that in case
//certain classes are accidentally included twice, you do not actually
//include them twice, taking up a lot of memory.

#ifndef MYROBOT_H
#define MYROBOT_H

//BEN NOTE:
//Only "defines.h", "WPILib.h", and <math.h> are actually used, but I'm
//keeping in the other #include just in case. 
//If you want to import more things for whatever reason, look in 
//"Includes" (located in this class), 
//"C:/WindRiver/vxworks-6.3/target/h/WPIlib."
//I doubt you'll need to import anything, but if you do, follow
//the forward slash format established in the following #includes.

#include "defines.h"
#include "WPILib.h"
#include <math.h>

class Robot:public IterativeRobot
{
public:
	Robot();
	~Robot();
	void AutonomousContinuous();
	void AutonomousInit();
	void AutonomousPeriodic();
	void DisabledContinuous();
	void DisabledInit();
	void DisabledPeriodic();
	void RobotInit();
	void TeleopContinuous();
	void TeleopInit();
	void TeleopPeriodic();
	
//Not required functions added by Asya/Paul/Andy
	void clampSpeeds();
	
	CANJaguar* JagTEST;

	Joystick* Joy;

	int VOLTS;
	int autonomous;
	float flutter;
	
protected:
	
	void _init();
	void clamp(float & val);
	
//Wheel Speeds
	float _testSpeed;
	float _maxVolts;
	float _testPos;

};

#endif



